CN108162941B - EHB electro-hydraulic brake system brake control method - Google Patents
EHB electro-hydraulic brake system brake control method Download PDFInfo
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- CN108162941B CN108162941B CN201711454549.8A CN201711454549A CN108162941B CN 108162941 B CN108162941 B CN 108162941B CN 201711454549 A CN201711454549 A CN 201711454549A CN 108162941 B CN108162941 B CN 108162941B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- Regulating Braking Force (AREA)
Abstract
The invention provides a braking control method of an EHB (electric hydraulic brake) system, which comprises the following steps: s1: judging whether the current braking mode is active braking or manual braking according to the working state of the vehicle; s2: calculating a current pressure value: s3: carrying out pressure PID (proportion integration differentiation) operation on the difference value of the current pressure value and the target pressure value of the wheel cylinder to obtain an accurate pressure regulation value; s4: and circularly repeating the steps S2 and S3 to realize the continuous adjustment of the wheel cylinder brake pressure. The control method for combining the manual mode and the active mode of the electro-hydraulic brake control system can realize safer and more reliable brake control, can realize active braking, and can establish brake pressure more accurately and more quickly. The brake energy recovery function is realized while the brake control is realized, and the method has great significance for improving the driving range of new energy automobiles, particularly electric automobiles.
Description
Technical Field
The invention relates to a control method of a brake system, in particular to a brake control method of an EHB (electric hydraulic brake) system.
Background
With the continuous development of new energy automobiles and automatic driving technologies, the electric control technology of the automobile chassis brake system is continuously developed. In particular, ADAS, AEB and other technologies are continuously in practical use in automobiles, and the requirements for brake system technologies are also increasing. It is required that the vehicle have not only manual brake control but also automatic brake control function. The EHB electronic hydraulic brake system is different from the traditional vacuum power-assisted brake system, and can realize the active brake function by electronically controlling the brake pressure of a master cylinder and a wheel cylinder of the hydraulic system.
The traditional vacuum-assisted hydraulic brake control system can only realize manual braking, is a passive safety technology, cannot avoid potential risks caused by failure of timely braking and misoperation of a driver in an emergency situation, and cannot realize the active braking function required by ADAS, AEB and RBS.
Disclosure of Invention
The invention aims to solve the problem of a wheel cylinder hydraulic pressure following closed-loop control method for manual braking and active braking in an EHB (electric hydraulic brake system), realize decision judgment and braking control of EHB manual braking and active braking intervention, can be applied to the traditional automobile and a new energy automobile, can realize an ADAS (advanced driver assistance system) and an AEB automatic emergency braking system, and can realize the functions of automatic driving and braking energy recovery of an electric automobile.
Compared with a traditional braking system, the EHB electro-hydraulic braking system reduces vacuum booster pumps, not only can realize traditional manual braking, but also can realize an active braking control function. The invention realizes the control function of two working modes of manual work and automatic work in the electro-hydraulic brake system, and is suitable for the traditional fuel automobile and the new energy automobile with an electronic hydraulic brake control system. The main principle of the invention is that a brake control judgment module comprehensively judges the brake mode of the vehicle, and then the target pressure following closed-loop control is carried out according to two different brake modes, namely manual brake or active brake, so that the rapid response of the pressure of a brake wheel cylinder is realized to adjust the brake control requirements of the vehicle under different working conditions.
The invention comprises the following steps:
s1: judging whether the current braking mode is active braking or manual braking according to the working state of the vehicle;
s2: calculating a current pressure value:
when the current braking mode is manual braking, the ECU obtains a target pressure value of the wheel cylinder according to the pedal stroke, and obtains an actual pressure value of the wheel cylinder through actual measurement of a wheel cylinder pressure sensor and calculates a current pressure value of the wheel cylinder;
when the current braking mode is active braking, a target deceleration value is obtained according to ADAS, AEB or automatic driving control requirements, the current deceleration value, namely an actual deceleration value, is calculated through a wheel speed sensor, the difference value between the target deceleration value and the actual deceleration value is subjected to incremental PID control operation to obtain a target pressure value of a wheel cylinder, and the actual pressure value of the wheel cylinder is obtained through actual measurement of a wheel cylinder pressure sensor and is calculated;
s3: carrying out pressure PID (proportion integration differentiation) operation on the difference value of the current pressure value and the target pressure value of the wheel cylinder to obtain an accurate pressure regulation value;
s4: and circularly repeating the steps S2 and S3 to realize the continuous adjustment of the wheel cylinder brake pressure.
Further, in step S2, after the actual pressure value of the wheel cylinder is obtained, it is determined whether the RBS function is provided:
when the RBS function is not available, taking an actual pressure value obtained by actually measuring the wheel cylinder pressure sensor as a current pressure value;
when the system has the RBS function, calculating to obtain a current pressure value according to the condition states of the whole vehicle controller and the recovered energy storage battery, the actual pressure value of the wheel cylinder and road conditions;
further, in step S1, it is determined comprehensively whether the braking mode is active braking or manual braking according to the vehicle driving state, the brake pedal information, and the active intervention command information provided by the chassis CAN bus.
Further, in step S2, when the current braking mode is manual braking, the ECU obtains the wheel cylinder target pressure value by querying through a displacement-wheel cylinder pressure comparison table according to the pedal stroke.
Further, the manual braking is realized by controlling a motor pump to generate braking pressure by an ECU according to the stroke of a brake pedal.
Furthermore, an outer ring, namely a deceleration PID control ring, is added on the basis of pressure PID closed-loop control during active braking to realize double closed-loop PID control.
Furthermore, during manual braking, pedal force, master cylinder displacement and master cylinder pressure realize the simulation of braking feeling on the pedal without directly participating in the output of braking force, and wheel cylinder braking pressure is established by a motor pump to realize the decoupling of the braking pedal and the wheel cylinder pressure.
Further, in the standby braking mode, the master cylinder directly participates in braking, and the transmission process from pedal displacement and pedal force to master cylinder displacement, master cylinder pressure and wheel cylinder pressure is realized.
The present invention and the related art are related to some acronyms, which are explained as follows:
EHB-ElectroHydraulic Braking electronic hydraulic brake system
Advanced Driving Assistance System (ADAS) -advanced driverasistantSystem
AEB-AutonomousEMERGENERATING BRAKING AUTOMATIC BRAKING SYSTEM
RBS-RegenerativeBrakingSystem braking energy recovery System
ECU-electronic control unit
PID-ProportionIntegrationDifferencention PID control
Compared with the prior art, the invention has the following advantages and effects:
1. the control method combining the manual braking mode and the active braking mode of the electro-hydraulic braking control system can realize safer and more reliable braking control and can realize active braking;
2. the braking pressure can be established more accurately and more quickly based on a manual and active braking double-closed-loop control method followed by the pressure of the wheel cylinder of the hydraulic system;
3. in the aspect of manual braking or active braking, the braking energy recovery function is realized while the braking control is carried out, and the method has great significance for improving the driving range of new energy automobiles, particularly electric automobiles.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the control method of the present invention.
FIG. 2 is a flow chart of a control method according to the present invention.
Fig. 3 is a diagram of manual brake pressure following relationship.
FIG. 4 is a graph of active brake pressure calculation.
Detailed Description
The patent is described in detail below with reference to specific examples:
compared with a traditional braking system, the EHB electro-hydraulic braking system reduces vacuum booster pumps, not only can realize traditional manual braking, but also can realize an active braking control function. The invention realizes the control function of two working modes of manual work and automatic work in the electro-hydraulic brake system, and is suitable for the traditional fuel automobile and the new energy automobile with an electronic hydraulic brake control system. The main principle of the invention is that the braking mode of the vehicle is comprehensively judged by the braking control judgment module, and then target pressure following closed-loop control is carried out according to two different braking modes, namely manual braking or automatic braking, so that the rapid response of the pressure of a brake wheel cylinder is realized to adjust the braking control requirements of the vehicle under different working conditions.
The control method of the present invention is illustrated in a schematic block diagram in fig. 1. The braking mode control logic judgment module judges whether the current braking mode is active braking or manual braking according to the working state of the vehicle, and the target pressure follows the closed-loop controller to respectively carry out pressure build control on the hydraulic system according to different braking modes so as to realize the output of the wheel cylinder braking force of the vehicle braking system.
FIG. 2 is a detailed flow chart of the control method of the present invention, first, a braking mode logic judgment module determines whether the current braking mode is active or passive manual braking, and the judgment module comprehensively judges the braking mode according to the vehicle running state, the brake pedal information, and the active intervention instruction provided by the chassis CAN bus. For manual braking, the conventional braking mode is that a driver steps on a brake pedal, the push rod force of the brake pedal and the force generated by the vacuum booster pump jointly push a master cylinder piston to generate hydraulic pressure, the hydraulic pressure is actually controlled in an open loop mode, and the pedal stroke is fixed with the thrust generated by the vacuum booster pump. The manual brake control mode of the invention is that an ECU (electronic control Unit) controls a motor pump to generate brake pressure according to the stroke of a brake pedal. As shown in FIG. 2, when the driver steps on the brake pedal, i.e. in a manual braking mode, the ECU obtains a target pressure value of a wheel cylinder through a software program 'displacement-wheel cylinder pressure look-up table' module according to the pedal stroke, and obtains an actual pressure value of the wheel cylinder through actual measurement of a wheel cylinder pressure sensor. And judging whether the system has an RBS function or not through a braking energy recovery decision 2 module, if not, taking the pressure value actually measured by the sensor as the deviation of the current pressure value and the target pressure to perform pressure PID calculation to obtain an accurate pressure regulation value, and controlling the rotating speed of the motor pump by the ECU to realize continuous correction of the target pressure. If the system has the RBS function, the braking energy recovery decision 2 module comprehensively calculates and distributes braking torque and hydraulic braking pressure values to the driving motor according to the condition state of the whole vehicle controller, the recovered energy storage battery, the pressure value of the current wheel cylinder, road condition and the like, and performs pressure PID control operation by taking the hydraulic braking pressure value at the moment as the deviation of the current pressure value and the target pressure value to obtain an accurate pressure regulating value. The deviation adjustment of the target pressure and the current pressure is periodically and repeatedly carried out in this way to realize the rapid pressure following control of the wheel cylinder.
The active braking control mode of the invention is shown in fig. 2, when the system judges as the active braking mode, the control mode is more complex than the pressure following closed-loop control of manual braking, because the active braking can not realize the following control from pedal displacement to pressure in the process of not stepping on the brake pedal by manpower. The active braking is realized by adding an outer ring, namely a deceleration PID control ring, on the basis of a pressure PID closed-loop controller to realize double closed-loop PID control. The active braking obtains a target deceleration value according to ADAS, AEB or automatic driving control requirements, the current deceleration value, namely the actual deceleration value, is obtained through calculation of a wheel speed sensor, and the difference value of the current deceleration value and the actual deceleration value is subjected to incremental PID control operation to obtain a wheel cylinder target pressure value. When the current pressure value is determined, as with manual brake control, there are two cases, one is a case where there is no RBS brake energy recovery, and the other is a case where there is brake energy recovery, which is handled by the brake energy recovery decision 1 module in fig. 2. When judging that the RBS function is not available, the pressure value measured by the wheel cylinder pressure sensor is used as the current pressure to carry out differential value PID control on the target pressure value obtained by the deceleration PID controller, and the rotating speed control of the motor pump is adjusted to realize the pressure deviation control of the brake wheel cylinder. If the system has the RBS function, the braking energy recovery decision module comprehensively calculates and distributes the braking torque of the driving motor and the current pressure value of braking according to the condition state of the whole vehicle controller, the recovered energy storage battery, the pressure value of the current wheel cylinder, the road condition and the like, and then performs pressure PID control to obtain the rotating speed of the motor pump to be adjusted so as to adjust the braking pressure of the wheel cylinder.
In the manual brake control process, a following control strategy of the brake pressure corresponding to the pedal displacement is realized through the pedal stroke, the pedal force, the master cylinder displacement and the pressure from the master cylinder to the wheel cylinder pressure. As shown in fig. 3. The pedal force, the main cylinder displacement and the main cylinder pressure have the main functions of simulating the brake feeling of the pedal and do not directly participate in the output of the brake force, the output of the brake force is different from that of a traditional vacuum booster, and the brake force is the superposition of the pedal force and the boosting force generated by a vacuum booster pump. But the wheel cylinder brake pressure corresponding to the pedal stroke is completely established by the motor pump, so that the decoupling of the brake pedal and the wheel cylinder pressure is realized. In the process of standby braking, the master cylinder controlled by the electromagnetic valve is directly output to the wheel cylinder, and in the standby braking mode, the master cylinder directly participates in braking, so that the processes of transferring pedal displacement, pedal force to master cylinder displacement, master cylinder pressure and wheel cylinder pressure are realized.
During active braking, there is no brake pedal involvement, so the control relationship is simpler, as shown in fig. 4. The process of brake deceleration, brake torque distribution and brake pressure distribution is carried out, but the control strategy is much more complex, and although the brake deceleration corresponds to the brake pressure, the control strategy needs to realize accurate control and better control robustness of the brake pressure through deceleration and pressure double closed-loop PID control.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the shape of the components, the names of the components, and the like. All equivalent or simple changes of the structure, the characteristics and the principle of the invention which are described in the patent conception of the invention are included in the protection scope of the patent of the invention. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (8)
1. A braking control method of an EHB electro-hydraulic braking system is characterized by comprising the following steps:
s1: judging whether the current braking mode is active braking or manual braking according to the working state of the vehicle;
s2: calculating a current pressure value:
when the current braking mode is manual braking, the ECU obtains a target pressure value of the wheel cylinder according to the pedal stroke, and obtains an actual pressure value of the wheel cylinder through actual measurement of a wheel cylinder pressure sensor and calculates a current pressure value of the wheel cylinder;
when the current braking mode is active braking, a target deceleration value is obtained according to ADAS, AEB or automatic driving control requirements, the current deceleration value, namely an actual deceleration value, is calculated through a wheel speed sensor, the difference value between the target deceleration value and the actual deceleration value is subjected to incremental PID control operation to obtain a target pressure value of a wheel cylinder, and the actual pressure value of the wheel cylinder is obtained through actual measurement of a wheel cylinder pressure sensor and is calculated;
s3: carrying out pressure PID (proportion integration differentiation) operation on the difference value of the current pressure value and the target pressure value of the wheel cylinder to obtain an accurate pressure regulation value;
s4: and circularly repeating the steps S2 and S3 to realize the continuous adjustment of the wheel cylinder brake pressure.
2. The EHB electro-hydraulic brake system brake control method according to claim 1, wherein, in step S2, after obtaining the actual pressure value of the wheel cylinder, it is determined whether the RBS function is available:
when the RBS function is not available, taking an actual pressure value obtained by actually measuring the wheel cylinder pressure sensor as a current pressure value;
and when the system has the RBS function, calculating and distributing the braking torque and the hydraulic braking pressure value to the driving motor according to the condition state of the vehicle controller, the recovered energy storage battery, the pressure value of the current wheel cylinder and the road condition, and taking the hydraulic braking pressure value as the current pressure value.
3. The EHB electro-hydraulic brake system brake control method according to claim 1 or 2, wherein in step S1, whether the braking mode is active braking or manual braking is comprehensively determined according to a vehicle driving state, brake pedal information and active intervention command information provided by a chassis CAN bus.
4. The EHB electro-hydraulic brake system brake control method of claim 3, wherein in step S2, when the current braking mode is manual braking, the ECU obtains the wheel cylinder target pressure value according to the pedal stroke by looking up through a displacement-wheel cylinder pressure comparison table.
5. The EHB electro-hydraulic brake system brake control method of claim 3, wherein the manual braking is by an ECU controlling a motor pump to generate brake pressure according to a brake pedal stroke.
6. The EHB electro-hydraulic brake system brake control method of claim 3, wherein an outer loop, namely a deceleration PID control loop, is added on the basis of pressure PID closed loop control during active braking to realize double closed loop PID control.
7. The EHB electro-hydraulic brake system brake control method of claim 3, wherein during manual braking, pedal force, master cylinder displacement and master cylinder pressure are used to simulate brake feel to the pedal without directly participating in the output of braking force, and wheel cylinder brake pressure is established by a motor pump to decouple brake pedal and wheel cylinder pressure.
8. The EHB electro-hydraulic brake system brake control method of claim 7, wherein in the backup braking mode, the master cylinder directly participates in braking, enabling the transfer of pedal displacement, pedal force to master cylinder displacement, master cylinder pressure and wheel cylinder pressure.
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| CN201711454549.8A CN108162941B (en) | 2017-12-28 | 2017-12-28 | EHB electro-hydraulic brake system brake control method |
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| CN201711454549.8A CN108162941B (en) | 2017-12-28 | 2017-12-28 | EHB electro-hydraulic brake system brake control method |
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| CN108162941B true CN108162941B (en) | 2020-06-26 |
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| CN114750733A (en) * | 2022-03-16 | 2022-07-15 | 清华大学 | Brake-by-wire system and control method of automobile |
| CN114604087A (en) * | 2022-04-28 | 2022-06-10 | 柳工无锡路面机械有限公司 | Braking system of a direct-drive electric engineering vehicle and control method thereof |
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Address after: 311215 Wanxiang Road, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: Wanxiang Qianchao Co.,Ltd. Patentee after: WANXIANG GROUP Co.,Ltd. Address before: 311215 Wanxiang Road, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee before: WANXIANG QIANCHAO Co.,Ltd. Patentee before: WANXIANG GROUP Co.,Ltd. |